wbt::base::WBBlock Class Reference

Extension of blockfactory::core::Block for simplifying the development of whole-body blocks. More...

#include <WBBlock.h>

Inheritance diagram for wbt::base::WBBlock:

Detailed Description

Extension of blockfactory::core::Block for simplifying the development of whole-body blocks.

This class provides support of parsing the parameters for creating a wbt::RobotInterface object, and helpers for retrieving iDynTree::KinDynComputations and wbt::RobotInterface objects.

See also

blockfactory::core::block

WBBlock Parameters

In addition to block_parameters, wbt::WBBlock requires:

Type	Index	Rows	Cols	Name
::STRUCT_STRING	0 + Block::NumberOfParameters	1	1	"RobotName"
::STRUCT_STRING	0 + Block::NumberOfParameters	1	1	"UrdfFile"
::STRUCT_CELL_STRING	0 + Block::NumberOfParameters	1	1	"ControlledJoints"
::STRUCT_CELL_STRING	0 + Block::NumberOfParameters	1	1	"ControlBoardsNames"
::STRUCT_STRING	0 + Block::NumberOfParameters	1	1	"LocalName"
::STRUCT_DOUBLE	0 + Block::NumberOfParameters	1	3	"GravityVector"
::STRING	1 + Block::NumberOfParameters	1	1	"ConfBlockName"

Note

The first set of parameters are fields of the same struct. For this reason they share the same index.

Classes
struct	iDynTreeRobotState
	Container for data structures used for using iDynTree::KinDynComputations::setRobotState More...

Public Member Functions
	WBBlock ()
	~WBBlock () override
unsigned	numberOfParameters () override
bool	parseParameters (blockfactory::core::BlockInformation *blockInfo) override
bool	configureSizeAndPorts (blockfactory::core::BlockInformation *blockInfo) override
bool	initialize (blockfactory::core::BlockInformation *blockInfo) override

Static Public Attributes
static constexpr unsigned	NumberOfParameters = Block::NumberOfParameters + 2
	The number of parameters WBBlock requires. More...

Protected Member Functions
std::shared_ptr< iDynTree::KinDynComputations >	getKinDynComputations () const
	Helper for retrieving the iDynTree::KinDynComputations object. More...
const std::shared_ptr< wbt::base::RobotInterface >	getRobotInterface () const
	Helper for retrieving the wbt::RobotInterface object. More...
bool	setRobotState (wbt::base::InputSignalPtr basePose, wbt::base::InputSignalPtr jointsPos, wbt::base::InputSignalPtr baseVelocity, wbt::base::InputSignalPtr jointsVelocity, iDynTree::KinDynComputations *kinDyn)
	Helper for setting the robot state inside the iDynTree::KinDynComputations object. More...

Protected Attributes
std::unique_ptr< iDynTreeRobotState >	m_robotState
std::string	m_confBlockName
std::shared_ptr< wbt::base::RobotInterface >	m_robotInterface

Constructor & Destructor Documentation

WBBlock()

WBBlock::WBBlock

(

)

~WBBlock()

WBBlock::~WBBlock ( )

overridedefault

Member Function Documentation

configureSizeAndPorts()

bool WBBlock::configureSizeAndPorts ( blockfactory::core::BlockInformation *  blockInfo )

override

getKinDynComputations()

std::shared_ptr< iDynTree::KinDynComputations > WBBlock::getKinDynComputations ( ) const

protected

Helper for retrieving the iDynTree::KinDynComputations object.

Returns

A pointer to iDynTree::KinDynComputations.

getRobotInterface()

const std::shared_ptr< wbt::base::RobotInterface > WBBlock::getRobotInterface ( ) const

protected

Helper for retrieving the wbt::RobotInterface object.

Returns

A pointer to wbt::RobotInterface.

initialize()

bool WBBlock::initialize ( blockfactory::core::BlockInformation *  blockInfo )

override

numberOfParameters()

unsigned WBBlock::numberOfParameters ( )

override

parseParameters()

bool WBBlock::parseParameters ( blockfactory::core::BlockInformation *  blockInfo )

override

setRobotState()

bool WBBlock::setRobotState ( wbt::base::InputSignalPtr  basePose, wbt::base::InputSignalPtr  jointsPos, wbt::base::InputSignalPtr  baseVelocity, wbt::base::InputSignalPtr  jointsVelocity, iDynTree::KinDynComputations *  kinDyn  )

protected

Helper for setting the robot state inside the iDynTree::KinDynComputations object.

Parameters

basePose	The vector containing the base pose.
jointsPos	The vector containing the joints positions.
baseVelocity	The vector containing the base velocity.
jointsVelocity	The vector containing the joints velocities.
kinDyn	A pointer to the block's KinDynComputations object.

Returns

True if success, false otherwise.

See also

iDynTree::KinDynComputations::setRobotState, wbt::iDynTreeRobotState

Member Data Documentation

m_confBlockName

std::string wbt::base::WBBlock::m_confBlockName

protected

m_robotInterface

std::shared_ptr<wbt::base::RobotInterface> wbt::base::WBBlock::m_robotInterface

protected

m_robotState

std::unique_ptr<iDynTreeRobotState> wbt::base::WBBlock::m_robotState

protected

NumberOfParameters

constexpr unsigned wbt::base::WBBlock::NumberOfParameters = Block::NumberOfParameters + 2

staticconstexpr

The number of parameters WBBlock requires.

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The documentation for this class was generated from the following files:

• /home/runner/work/wb-toolbox/wb-toolbox/toolbox/base/include/WBToolbox/Base/WBBlock.h
• /home/runner/work/wb-toolbox/wb-toolbox/toolbox/base/src/WBBlock.cpp